mirror/botw
1
0
Fork 0
mirror of https://github.com/zeldaret/botw synced 2026-08-10 11:13:50 -04:00
Code Issues Packages Projects Releases Wiki Activity

ksys/phys: Add more RigidBody functions and Havok utils

Browse Source
This commit is contained in:
Léo Lam
2022-01-17 19:59:09 +01:00
parent a2cde0f0de
commit 87bca00e68
10 changed files with 311 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lib/hkStubs/CMakeLists.txt
+3
View File
@@ -59,6 +59,8 @@ add_library(hkStubs OBJECT
Havok/Common/Base/Types/Physics/MotionState/hkMotionState.h
Havok/Common/Base/Types/Properties/hkSimpleProperty.h
Havok/Common/GeometryUtilities/Inertia/hkInertiaTensorComputer.h
Havok/Common/Serialize/Resource/hkResource.h
Havok/Common/Serialize/Util/hkNativePackfileUtils.h
Havok/Common/Serialize/Util/hkRootLevelContainer.h
@@ -108,6 +110,7 @@ add_library(hkStubs OBJECT
Havok/Physics2012/Dynamics/Entity/hkpEntity.h
Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h
Havok/Physics2012/Dynamics/Entity/hkpRigidBodyCinfo.h
Havok/Physics2012/Dynamics/Inertia/hkpInertiaTensorComputer.h
Havok/Physics2012/Dynamics/Motion/hkpMotion.h
Havok/Physics2012/Dynamics/Motion/Rigid/hkpBoxMotion.h
Havok/Physics2012/Dynamics/Motion/Rigid/hkpFixedRigidMotion.h
lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix3f.h
+41 -4
View File
@@ -8,33 +8,57 @@ public:
HK_FORCE_INLINE hkFloat32& operator()(int row, int col);
HK_FORCE_INLINE const hkFloat32& operator()(int row, int col) const;
template <int Row, int Col>
HK_FORCE_INLINE hkSimdFloat32 get() const;
template <int Row, int Col>
HK_FORCE_INLINE void set(hkSimdFloat32Parameter s);
HK_FORCE_INLINE hkVector4f& getColumn(int i);
HK_FORCE_INLINE const hkVector4f& getColumn(int i) const;
template <int I>
HK_FORCE_INLINE const hkVector4f& getColumn() const;
HK_FORCE_INLINE void getRows(hkVector4f& r0, hkVector4f& r1, hkVector4f& r2) const;
HK_FORCE_INLINE void setZero();
HK_FORCE_INLINE void setIdentity();
hkVector4f m_col0;
hkVector4f m_col1;
hkVector4f m_col2;
};
hkFloat32& hkMatrix3f::operator()(int row, int col) {
inline hkFloat32& hkMatrix3f::operator()(int row, int col) {
return getColumn(col)(row);
}
const hkFloat32& hkMatrix3f::operator()(int row, int col) const {
inline const hkFloat32& hkMatrix3f::operator()(int row, int col) const {
return getColumn(col)(row);
}
hkVector4f& hkMatrix3f::getColumn(int i) {
template <int Row, int Col>
inline hkSimdFloat32 hkMatrix3f::get() const {
return getColumn<Col>().template getComponent<Row>();
}
template <int Row, int Col>
inline void hkMatrix3f::set(hkSimdFloat32Parameter s) {
getColumn<Col>().template setComponent<Row>(s);
}
inline hkVector4f& hkMatrix3f::getColumn(int i) {
return (&m_col0)[i];
}
const hkVector4f& hkMatrix3f::getColumn(int i) const {
inline const hkVector4f& hkMatrix3f::getColumn(int i) const {
return (&m_col0)[i];
}
template <int I>
inline const hkVector4f& hkMatrix3f::getColumn() const {
return (&m_col0)[I];
}
inline void hkMatrix3f::getRows(hkVector4f& r0, hkVector4f& r1, hkVector4f& r2) const {
hkVector4f c0;
c0.set(m_col0(0), m_col1(0), m_col2(0));
@@ -47,3 +71,16 @@ inline void hkMatrix3f::getRows(hkVector4f& r0, hkVector4f& r1, hkVector4f& r2)
r1 = c1;
r2 = c2;
}
inline void hkMatrix3f::setZero() {
m_col0.setZero();
m_col1.setZero();
m_col2.setZero();
}
inline void hkMatrix3f::setIdentity() {
hkMatrix3f* __restrict d = this;
d->m_col0 = hkVector4f::getConstant<HK_QUADREAL_1000>();
d->m_col1 = hkVector4f::getConstant<HK_QUADREAL_0100>();
d->m_col2 = hkVector4f::getConstant<HK_QUADREAL_0010>();
}
lib/hkStubs/Havok/Common/Base/Math/Matrix/hkTransformf.h
+6
View File
@@ -21,6 +21,7 @@ public:
HK_FORCE_INLINE void set(const hkRotationf& r, hkVector4fParameter t);
HK_FORCE_INLINE void set(hkQuaternionfParameter q, hkVector4fParameter t);
HK_FORCE_INLINE void setIdentity();
hkRotationf m_rotation;
hkVector4f m_translation;
@@ -54,3 +55,8 @@ inline void hkTransformf::set(const hkQuaternionf& q, const hkVector4f& t) {
m_rotation.set(q);
m_translation = t;
}
inline void hkTransformf::setIdentity() {
m_rotation.setIdentity();
m_translation.setZero();
}
lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h
+4
View File
@@ -141,6 +141,10 @@ public:
hkSimdFloat32 getY() const { return getComponent<1>(); }
hkSimdFloat32 getZ() const { return getComponent<2>(); }
hkSimdFloat32 getW() const { return getComponent<3>(); }
template <int I>
HK_FORCE_INLINE void setComponent(hkSimdFloat32Parameter val) {
v[I] = val;
}
void setComponent(int i, hkSimdFloat32Parameter val) { v[i] = val; }
void setX(hkSimdFloat32Parameter val) { setComponent(0, val); }
void setY(hkSimdFloat32Parameter val) { setComponent(1, val); }
lib/hkStubs/Havok/Common/GeometryUtilities/Inertia/hkInertiaTensorComputer.h
+115
View File
@@ -0,0 +1,115 @@
#pragma once
#include <Havok/Common/Base/hkBase.h>
struct hkGeometry;
struct hkStridedVertices;
struct hkMassProperties {
HK_DECLARE_CLASS_ALLOCATOR(hkMassProperties)
HK_DECLARE_REFLECTION()
hkMassProperties() : m_volume(0), m_mass(0) {
m_centerOfMass.setZero();
m_inertiaTensor.setZero();
}
explicit hkMassProperties(hkFinishLoadedObjectFlag flag) {}
void scaleToDensity(hkSimdRealParameter density);
void scaleToMass(hkSimdRealParameter newMass);
hkReal m_volume;
hkReal m_mass;
hkVector4 m_centerOfMass;
hkMatrix3 m_inertiaTensor;
};
struct hkMassElement {
HK_DECLARE_CLASS_ALLOCATOR(hkMassElement)
HK_FORCE_INLINE hkMassElement() { m_transform.setIdentity(); }
HK_FORCE_INLINE hkMassElement(const hkMassProperties& properties, const hkTransform& transform)
: m_properties(properties), m_transform(transform) {}
hkMassProperties m_properties;
hkTransform m_transform;
};
class hkInertiaTensorComputer {
public:
static hkResult computeSphereVolumeMassProperties(hkReal radius, hkReal mass,
hkMassProperties& result);
static hkResult computeBoxVolumeMassProperties(hkVector4Parameter halfExtents, hkReal mass,
hkMassProperties& result);
static hkResult computeBoxVolumeMassPropertiesDiagonalized(hkVector4Parameter halfExtents,
hkReal mass,
hkVector4& inertiaDiagonal,
hkReal& volume);
static hkResult computeCapsuleVolumeMassProperties(hkVector4Parameter startAxis,
hkVector4Parameter endAxis, hkReal radius,
hkReal mass, hkMassProperties& result);
static hkResult computeSphereSurfaceMassProperties(hkReal radius, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeBoxSurfaceMassProperties(hkVector4Parameter halfExtents, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeTriangleSurfaceMassProperties(hkVector4Parameter v0,
hkVector4Parameter v1,
hkVector4Parameter v2, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeCylinderVolumeMassProperties(hkVector4Parameter startAxis,
hkVector4Parameter endAxis, hkReal radius,
hkReal mass, hkMassProperties& result);
static hkResult computeConvexHullMassProperties(const hkStridedVertices& vertices,
hkReal radius, hkMassProperties& result);
using ConvexHullMassPropertiesFunction = hkResult (*)(const hkStridedVertices&, hkReal,
hkMassProperties&);
static ConvexHullMassPropertiesFunction s_computeConvexHullMassPropertiesFunction;
static hkResult computeVertexHullVolumeMassProperties(const hkReal* vertexIn, int striding,
int numVertices, hkReal mass,
hkMassProperties& result);
static hkResult computeVertexCloudMassProperties(const hkReal* vertexIn, int striding,
int numVertices, hkReal mass,
hkMassProperties& result);
static hkResult computeGeometrySurfaceMassProperties(const hkGeometry* geom,
hkReal surfaceThickness,
hkBool distributeUniformly, hkReal mass,
hkMassProperties& result);
static void computeGeometryVolumeMassProperties(const hkGeometry* geom, hkReal mass,
hkMassProperties& result);
static hkResult computeGeometryVolumeMassPropertiesChecked(const hkGeometry* geom, hkReal mass,
hkMassProperties& result);
static hkResult combineMassProperties(const hkArray<hkMassElement>& elements,
hkMassProperties& result);
static void simplifyInertiaTensorToOrientedParticle(hkMatrix3& inertia);
static void convertInertiaTensorToPrincipleAxis(hkMatrix3& inertia,
hkRotation& principleAxisOut);
static void shiftInertiaToCom(hkVector4Parameter shift, hkSimdRealParameter mass,
hkMatrix3& inertia);
static void shiftInertiaFromCom(hkVector4Parameter shift, hkSimdRealParameter mass,
hkMatrix3& inertia);
};
lib/hkStubs/Havok/Physics/Constraint/hkpConstraintInstance.h
+8
View File
@@ -141,3 +141,11 @@ public:
struct hkConstraintInternal* m_internal;
hkUint32 m_uid;
};
inline const hkpConstraintData* hkpConstraintInstance::getData() const {
return m_data;
}
inline hkpConstraintData* hkpConstraintInstance::getDataRw() const {
return m_data;
}
lib/hkStubs/Havok/Physics2012/Dynamics/Inertia/hkpInertiaTensorComputer.h
+32
View File
@@ -0,0 +1,32 @@
#pragma once
#include <Havok/Common/GeometryUtilities/Inertia/hkInertiaTensorComputer.h>
class hkcdShape;
class hkpConstraintInstance;
class hkpRigidBody;
class hkpRigidBodyCinfo;
class hkpShape;
class hkpInertiaTensorComputer : public hkInertiaTensorComputer {
public:
static void computeShapeVolumeMassProperties(const hkcdShape* shape, hkReal mass,
hkMassProperties& result);
static void setShapeVolumeMassProperties(const hkpShape* shape, hkReal mass,
hkpRigidBodyCinfo& bodyInfo);
static void setMassProperties(const hkMassProperties& props, hkpRigidBodyCinfo& bodyInfo);
static void setAndScaleToDensity(const hkMassProperties& props, hkSimdRealParameter density,
hkpRigidBodyCinfo& bodyInfo);
static void setAndScaleToMass(const hkMassProperties& props, hkSimdRealParameter mass,
hkpRigidBodyCinfo& bodyInfo);
static void clipInertia(hkReal maxInertiaRatio, hkpRigidBodyCinfo& bodyInfo);
static void optimizeInertiasOfConstraintTree(hkpConstraintInstance* const* constraints,
int numConstraints, hkpRigidBody* rootBody,
hkReal inertiaFactorHint = 1.5f);
};